JP2019066590A - Projector and control method - Google Patents

Abstract

To provide a low cost projector and a control method that can surely return a movement object at an origin position.SOLUTION: A projector comprises: a light source device; a plurality of light modulation devices; a light synthesis device integrated with the plurality of light modulation devices; a projection optical device; an attitude adjustment device that adjusts attitude of the light synthesis device; and a control device that controls the attitude adjustment device. The attitude adjustment device comprises: a lead screw that changes the attitude of the light synthesis device; a driving device that rotates the lead screw; a shaft member in which rotation of the lead screw is transferred; a potentiometer that detects rotation amount of the shaft member; and a photosensor that can be shielded by a shielding unit provided in the shaft member. The control device comprises: an abnormality determination unit that determines whether or not abnormality has occurred on the basis of a detection result by the potentiometer; and a returning operation unit that returns the light synthesis device at an origin position on the basis of the detection result by the photosensor when it is determined that the abnormality has occurred.SELECTED DRAWING: Figure 17

Description

  The present invention relates to a projector and a control method.

Conventionally, a light source device, a light modulation device that modulates light emitted from the light source device to form an image according to image information, and a projection optical device that enlarges and projects the formed image on a projection surface, Projectors are known.
A liquid crystal panel is exemplified as a light modulation device adopted for such a projector.
There is also known a projector in which a projection lens unit corresponding to a projection optical device is configured to be detachable (see, for example, Patent Document 1).

Unexamined-Japanese-Patent No. 2010-276895

By the way, if the arrangement of the projection optical device and the light modulation device such as the liquid crystal panel is not appropriate, there is a problem that the displayed image is deteriorated. For example, when one of the projection optical device and the light modulation device is inclined with respect to the other, a phenomenon called "one-sided blur" in which focus is not achieved in at least one of left and right and / or upper and lower in a projected image tends to occur. Such one-sided blur becomes remarkable as the resolution of the display image increases.
To address this problem, it is conceivable to adopt a mechanism for tilting the projection optical device with respect to the light modulation device. However, since the projection optical device is relatively heavy, the mechanism is required to have high rigidity, and the mechanism is enlarged, and there is a problem that power consumption, weight increase and manufacturing cost increase easily.

On the other hand, an image forming unit in which a plurality of light modulation devices and a light combining device for combining light fluxes passing through the plurality of light modulation devices are integrated is inclined with respect to a plane orthogonal to the optical axis of the projection optical device. It is possible to consider an attitude adjustment device that suppresses the occurrence of the above-mentioned one-sided blur.
As a configuration of such a posture adjustment device, a lead nut that is integrally rotated with the light combining device is disposed offset with respect to the rotation axis of the light combining device, and a lead screw that meshes with the lead nut is A configuration may be considered that is arranged parallel to the direction orthogonal to the motion axis. In this configuration, when the lead screw is rotated by the drive device, the light combining device, and hence the image forming unit, is rotated about the rotation axis.

Here, as the drive device, a stepping motor that rotates in response to the input pulse can be considered. However, the stepping motor does not rotate according to the number of pulses when an excessive load is applied, etc., and an abnormality called "step out" occurs where synchronization between the number of input pulses and motor rotation is lost. is there. In addition, if any trouble occurs, there is a possibility that the image forming unit to be rotated can not be directed to an appropriate posture.
Even when these abnormalities occur, if the configuration that detects the position of the lead screw by the absolute encoder is adopted, the current posture can be grasped, so for example, after returning to the origin position, the rotation target You can change your attitude.

However, since the absolute encoder is relatively expensive, the attitude adjustment device tends to be expensive.
On the other hand, although it is possible to adopt a potentiometer instead of the absolute encoder, the potentiometer has a relatively large detection variation. For this reason, for example, when an abnormality occurs, even if it is attempted to return the rotation target to the origin position on the basis of the detection result by the potentiometer, there is a possibility that it can not be correctly returned.

  An object of the present invention is to solve at least a part of the above-mentioned problem, and to provide a low cost projector and a control method capable of reliably returning an object to be moved to an origin position. To be

  A projector according to a first aspect of the present invention is integrated with a light source device, a plurality of light modulation devices that respectively modulate light emitted from the light source device, and the plurality of light modulation devices, and the plurality of light modulations A light combining device for combining light incident from each of the devices, a projection optical device for projecting the light combined by the light combining device, a posture adjusting device for adjusting the posture of the light combining device, and A control device for controlling an operation, wherein the posture adjustment device transmits a lead screw for changing the posture of the light combining device, a drive device for rotating the lead screw, and rotation of the lead screw A light receiving portion is shielded by a shaft member, a potentiometer for detecting the amount of rotation of the shaft member, and a light shielding portion provided on the shaft member according to the rotation of the shaft member. The control device, based on the detection result of the potentiometer, determines whether or not an abnormality has occurred in the posture adjustment device; and the abnormality determination unit determines the abnormality. When it is determined that it has occurred, the driving device is driven, and a return operation unit that returns the light combining device to the origin position based on the detection result by the photosensor.

In addition, as a drive device, actuators, such as a stepping motor, can be illustrated.
According to such a configuration, when a failure such as the above-described step out occurs in the drive device, or when the photosynthesis device is rotated out of the expected range, these abnormalities are detected based on the detection result by the potentiometer. it can. When it is determined by the abnormality determination unit that such an abnormality has occurred, the return operation unit is based on the detection result by the photosensor of the rotation state of the shaft member to which the rotation of the lead screw is transmitted. Grasp the photosynthesis device and return it to the home position. According to this, the above abnormality can be detected by a relatively inexpensive potentiometer without using the above absolute encoder, and the factory is shipped from the factory based on the detection result by a relatively inexpensive and highly accurate photosensor. The light combining device can be accurately returned to the origin position where the center position in the position and the movement range is exemplified. Therefore, when an abnormality occurs, the moving object can be reliably returned to the home position, and the manufacturing cost of such a projector can be suppressed.

In the first aspect, the return operation unit drives the drive device to switch between a blocking state in which the light blocking portion of the shaft member blocks the light receiving portion and a non blocking state in which the light receiving portion is not blocked. It is preferable to rotate the shaft member from a position by a prescribed amount, which is a prescribed amount of rotation, to execute an origin return procedure for moving the light combining device to the origin position.
According to such a configuration, after arranging the shaft member at the change position, the light combining device can be reliably returned to the origin position by rotating the shaft member by the specified amount.

In the first aspect, the return movement unit reverses the rotation direction of the shaft member after the predetermined rotation amount, the predetermined amount rotation procedure for rotating the shaft member, and the predetermined amount rotation procedure. And performing a reverse movement procedure for positioning the shaft member at the change position based on the detection result by the photosensor, and performing the reverse movement procedure, and then performing the origin return procedure .
According to such a configuration, it is possible to suppress the detection variation of the photo sensor in the rotation direction (operating direction) by reciprocating the shaft member. Then, in the home position return procedure, the light combining device can be reliably returned to the home position position by rotating the shaft member from the change position by the specified amount.

In the first aspect, the return operation unit executes a change position moving procedure for positioning the shaft member at the change position based on a detection result by the photosensor, and executes the change position moving procedure. Preferably, the predetermined amount rotation procedure is performed.
According to such a configuration, since the shaft member can be accurately disposed at the change position based on the detection result of the photosensor, the light combining device can be accurately returned to the origin position.

In the first aspect, before the change position moving procedure, the return operation unit drives the drive device based on the detection result by the potentiometer to position the light combining device near the origin position. Is preferred.
According to such a configuration, for example, even if the return operation unit does not perform the change position moving procedure or the home position return procedure when there is an abnormality in the photo sensor, the detection result by the potentiometer is used. Thus, the light combining device can be positioned near the origin position.

In the first aspect, the control device has a prescribed amount storage unit that stores the prescribed amount, and the return operation unit acquires the prescribed amount stored in the prescribed amount storage unit, and the origin It is preferred to carry out the reversion procedure.
According to such a configuration, for example, if the prescribed amount is obtained in advance in a factory or the like, and the prescribed amount is stored in the prescribed amount storage unit, the photosynthesis device can be assured if the above procedure is performed. Can be returned to the home position.

In the first aspect, the control device has an abnormality storage unit that stores the content of the generated abnormality, and the return operation unit determines that the posture adjustment device has generated an abnormality, the content of the generated abnormality. Is preferably stored in the abnormality storage unit.
According to such a configuration, for example, when the photo sensor is effective but the motor or potentiometer is not effective, it can be stored that an abnormality has occurred in the motor or potentiometer. Although the potentiometer is effective, when the photosensor is not valid, it can be stored that a malfunction has occurred in the photosensor. Therefore, the cause of the generated abnormality can be easily analyzed.

In the first aspect, preferably, the origin position is a center position in a movement range of the light combining device by the posture adjustment device.
According to such a configuration, it is possible to reliably restore the state before the attitude adjustment of the light combining device by the attitude adjusting device.

In the first aspect, the posture adjustment device includes a first pulley integrally provided in the lead screw, a second pulley integrally provided in the shaft member, and rotation of the first pulley. It is preferable to have the transmission member which transmits to 2 pulleys.
According to such a configuration, the rotation of the lead screw is transmitted to the shaft member via the first pulley, the transmission member and the second pulley, and the rotation of the shaft member is detected by the potentiometer and the photo sensor . According to this, it is possible to reliably detect the amount of rotation of the lead screw for changing the posture of the light combining device by the potentiometer and the photosensor arranged at a position away from the lead screw. Therefore, the freedom of arrangement of these potentiometers and photosensors can be improved.

In the first aspect, it is preferable that the second pulley accelerates the rotation of the first pulley transmitted through the transmission member.
According to such a configuration, the rotation state of the shaft member can be easily detected by the potentiometer and the photo sensor, and the detection accuracy of the rotation state of the lead screw, and hence the attitude of the light combining device can be enhanced. Therefore, it is possible to detect in more detail the posture of the light combining device which is the posture adjustment target.

A control method according to a second aspect of the present invention is a control method executed by a control device included in a projector, and the projector includes a light source device and a plurality of lights for modulating light emitted from the light source device. And a light combining device integrated with the plurality of light modulation devices and combining light incident from each of the plurality of light modulation devices, and a projection optical device projecting light combined by the light combining device A posture adjusting device for adjusting the posture of the light combining device; and a control device for controlling the operation of the posture adjusting device, wherein the posture adjusting device is a lead screw for changing the posture of the light combining device; A drive device for rotating a lead screw, a shaft member to which the rotation of the lead screw is transmitted, and a potentiometer for detecting the amount of rotation of the shaft member And a photo sensor capable of shielding the light receiving portion by the light shielding portion provided on the shaft member according to the rotation of the shaft member, and the control method is based on the detection result by the potentiometer. It is determined whether or not an abnormality has occurred in the posture adjustment device, and when it is determined that the abnormality has occurred, the drive device is driven to position the light combining device at the origin based on the detection result by the photo sensor. It is characterized by returning to.
By implementing the control method according to the second aspect as described above, the control device of the projector can achieve the same effect as the projector according to the first aspect.

A control method according to a third aspect of the present invention is a control method executed by a control device included in a projector, and the projector includes a light source device and a plurality of lights for modulating light emitted from the light source device. And a light combining device integrated with the plurality of light modulation devices and combining light incident from each of the plurality of light modulation devices, and a projection optical device projecting light combined by the light combining device A posture adjusting device for adjusting the posture of the light combining device; and a control device for controlling the operation of the posture adjusting device, wherein the posture adjusting device is a lead screw for changing the posture of the light combining device; A drive device for rotating a lead screw, a shaft member to which the rotation of the lead screw is transmitted, and a potentiometer for detecting the amount of rotation of the shaft member And a photo sensor capable of shielding the light receiving portion by the light shielding portion provided on the shaft member according to the rotation of the shaft member, and the control method is based on the detection result by the photo sensor A predetermined amount which is a predetermined amount of rotation from the change position at which a light shielding portion of the shaft member shields the light receiving portion and a non-shielding state in which the light receiving portion is not shielded; It is characterized in that it is moved to return the light combining device to the home position.
By implementing the control method according to the third aspect as described above, the control device of the projector can achieve the same effect as the projector according to the first aspect.

FIG. 1 is a schematic view showing a configuration of a projector according to an embodiment of the present invention. The figure which looked at the attitude | position adjustment apparatus in the said embodiment from the light-incidence side. The perspective view which looked at the attitude | position adjustment apparatus in the said embodiment from the light-incidence side. The perspective view which looked at the attitude | position adjustment apparatus in the said embodiment from the light emission side. The perspective view which looked at the attitude | position adjustment apparatus in the said embodiment from the light-incidence side. The perspective view which shows the attitude | position adjustment apparatus in the said embodiment. The side view showing the posture adjustment device in the above-mentioned embodiment. The perspective view which looked at the rotation drive part in the said embodiment from the light-incidence side. The perspective view which looked at the rotation drive part in the said embodiment from the light emission side. The perspective view which looked at the rotation drive part in the said embodiment from the light-incidence side. The perspective view which looked at the rotation drive part in the said embodiment from the light emission side. The perspective view which shows the lead screw in the said embodiment, and a rotation member. The figure which looked at the attitude | position adjustment apparatus in the said embodiment from the light-incidence side. The disassembled perspective view which looked at the attitude | position adjustment apparatus in the said embodiment from the light-incidence side. The perspective view which expands and shows the rotation mechanism in the said embodiment. The perspective view which expands and shows the rotation mechanism in the said embodiment. The block diagram which shows the structure of the control apparatus in the said embodiment. The flowchart which shows the 1st specified amount acquisition processing in the above-mentioned embodiment. FIG. 7 is a view showing a positional relationship between a photosensor and a light shielding portion in the embodiment. The flowchart which shows the 1st origin return processing in the above-mentioned embodiment.

[Schematic configuration of the projector]
Hereinafter, an embodiment of the present invention will be described based on the drawings.
FIG. 1 is a schematic view showing the configuration of a projector 1 according to the present embodiment.
The projector 1 according to the present embodiment modulates light emitted from the light source device 41 provided therein to form an image according to image information, and projects the image in an enlarged manner on a projection surface such as a screen. It is a projection type display device. As shown in FIG. 1, the projector 1 includes an exterior housing 2 constituting an exterior, and an apparatus main body 3 housed in the exterior housing 2. Although such a projector 1 will be described in detail later, it has one of the features regarding the control of the attitude adjustment device 5 (see FIG. 2) that adjusts the attitude of the image forming unit FU.
Hereinafter, the configuration of the projector 1 will be described in detail.

[Configuration of exterior housing]
The exterior housing 2 is formed in a substantially rectangular parallelepiped shape. The exterior housing 2 has a front surface portion 23, a back surface portion 24, a left side surface portion 25 and a right side surface portion 26, and although not shown, a top surface portion connecting one end side of these surface portions 23 to 26 and these surface portions And a bottom portion connecting the other ends of the first and second electrodes 23 to 26. The bottom surface portion is a surface facing the installation surface of the projector 1, and a plurality of leg portions are disposed.
Further, the front portion 23 has an opening 231. A part of a projection optical device 46 described later is exposed through the opening 231, and an image is projected by the projection optical device 46.

[Configuration of main unit]
The device body 3 includes an image projection device 4. In addition to the control device 9 (see FIG. 17) for controlling the operation of the projector 1, the device body 3 is not shown, but a power supply device for supplying power to the electronic components constituting the projector 1, and the projector 1 And a cooling device for cooling the object to be cooled.
Among these, the configuration of the control device 9 will be described in detail later.

[Configuration of image projection apparatus]
The image projection device 4 forms an image according to image information (including an image signal) input from the control device 9, and projects the image on the projection surface. The image projection device 4 includes a light source device 41, a uniformizing device 42, a color separation device 43, a relay device 44, an image forming device 45, a projection optical device 46, and an optical component casing 47.

  The light source device 41 emits illumination light to the homogenizing device 42. As a configuration of such a light source device 41, for example, a solid light source such as LD (Laser Diode) that emits blue light which is light source light, a part of blue light emitted from the solid light source, green light And a wavelength conversion element that performs wavelength conversion to fluorescence including red light. In addition, as another structure of the light source device 41, the structure which has light source lamps, such as a superhigh pressure mercury lamp, as a light source, and the structure which has other solid light sources, such as LED (Light Emitting Diode), can be illustrated.

The equalizing device 42 equalizes the illuminance of the light beam incident from the light source device 41. The equalizing device 42 includes a first lens array 421, a second lens array 422, a polarization conversion element 423, and a superimposing lens 424. The homogenizing device 42 may further include a light control device that shields part of the incident light beam to adjust the emitted light amount, and various filters.
Among them, the polarization conversion element 423 aligns the light flux incident from the second lens array 422 into one type of linearly polarized light and emits it.

  The color separation device 43 separates the red light LR, the green light LG and the blue light LB from the light flux incident from the homogenization device 42. The color separation device 43 separates a dichroic mirror 431 for reflecting the red light LR and the green light LG and transmitting the blue light LB, a dichroic mirror 432 for transmitting the red light LR and reflecting the green light LG, and And a reflection mirror 433 that reflects the blue light LB toward the blue field lens 451. The green light LG reflected by the dichroic mirror 432 is incident on the field lens 451 for green.

  The relay device 44 includes an incident side lens 441, a reflection mirror 442, a relay lens 443 and a reflection mirror 444 provided on the optical path of the red light LR that has passed through the dichroic mirror 432, and the red light LR is a field lens for red. Lead to 451. In the present embodiment, the image projection device 4 has a configuration in which the red light LR passes through the relay device 44. However, the present invention is not limited to this, and for example, a configuration in which blue light LB passes may be used.

The image forming device 45 modulates each color light separated by the color separation device 43 for each color light, and combines the modulated each color light to form an image according to the image information. The image forming apparatus 45 includes a field lens 451 and a light modulation device 452 provided corresponding to the three color lights LR, LG, and LB, and one light combining device 456.
The light modulation device 452 (light modulation devices corresponding to red, green, and blue light are 452 R, 452 G, and 452 B) includes a transmissive liquid crystal panel 454 having a light incident surface and a light emission surface, and the liquid crystal The liquid crystal light valve is configured to include an incident side polarization plate 453 and an emission side polarization plate 455 positioned on the light incident side and the light emission side of the panel 454.

The light combining device 456 combines the color lights that have passed through the light modulation devices 452 to form the image. In the present embodiment, the light combining device 456 is configured by a cross dichroic prism having a substantially rectangular parallelepiped shape (substantially square pole shape).
The light combining device 456 is opposed to the light modulators 452 and includes three incident surfaces 456B, 456G, 456R (see FIG. 5 etc.) to which the color lights having passed through the light modulators 452 are respectively incident. And an output surface 456E (see FIG. 5 and the like) from which the combined light of the colored light (that is, the image light) is output. The image light emitted from the emission surface 456E is incident on the projection optical device 46.

In such a light combining device 456, holding members HM (see FIG. 2) for holding the corresponding light modulation devices 452 are attached to the respective incident surfaces 456B, 456G, 456R, whereby the light combining device 456 and each light modulation are provided. The device 452 is integrated.
Hereinafter, a configuration in which the light modulation device 452 and the light combining device 456 are integrated is referred to as an image forming unit FU. The image forming unit FU is supported by a posture adjustment device 5 described later.

The projection optical device 46 enlarges and projects the image light incident from the light combining device 456 onto the projection surface, and displays an image formed by the image light on the projection surface. The projection optical device 46 is configured as a combined lens in which a plurality of lenses are disposed in a lens barrel.
Although not shown, the projection optical device 46 is orthogonal to the optical axis (central axis) of the projection optical device 46 and in two directions orthogonal to each other (± X direction and ± Y direction described later) Movably supported by the shift device. The shift device holds the projection optical device 46 replaceably (removably), and is attached to a support member 8 of the posture adjustment device 5 described later. The projection optical device 46 can be replaceably attached to the support member 8 without passing through the shift device. However, not limited to this, the projection optical device 46 and the shift device may be attached to the support member 8 so as not to be removable.

The optical component casing 47 holds the devices 42 to 44 and the field lens 451.
Here, the illumination optical axis Ax, which is the designed optical axis, is set in the image projection device 4, and the optical component casing 47 is placed at a predetermined position on the illumination optical axis Ax. And hold the field lens 451. In the optical component casing 47, a space S in which the image forming unit FU is disposed is formed at a position where the three sides are surrounded by the field lenses 451.
The light source device 41 and the projection optical device 46 are disposed at predetermined positions in the illumination light axis Ax.

[Configuration of attitude adjustment device]
FIG. 2 is a view of the posture adjustment device 5 holding the image forming unit FU as viewed from the light incident side to the image forming unit FU. 3 and 4 are perspective views of the posture adjustment device 5 as viewed from the light incident side and the light emission side with respect to the image forming unit FU. FIG. 5 shows the posture adjustment device 5 holding the light combining device 456. It is the perspective view seen from the light-incidence side.
The image projection device 4 includes the posture adjustment device 5 shown in FIGS. 2 to 5 in addition to the above configuration.
In the following description, an axis parallel to the optical axis of the projection optical device 46 is taken as a Z axis, and two axes orthogonal to the Z axis and mutually orthogonal are taken as an X axis and a Y axis. Among these, the direction parallel to the Z axis and going from the back surface 24 to the front surface 23 is taken as the + Z direction. Further, a direction parallel to the X axis from the left side surface 25 to the right side surface 26 is a + X direction, and a direction parallel to the Y axis from the bottom surface to the top surface is a + Y direction. That is, the + Z direction is a direction in which the projection optical device 46 projects image light when viewed from the + Y direction side. Moreover, although illustration is abbreviate | omitted, let the opposite direction of + Z direction be-Z direction. The same applies to -X direction and -Y direction.

The posture adjusting device 5 holds the light combining device 456 and holds the image forming unit FU, and adjusts the inclination of the image forming unit FU with respect to the optical axis of the projection optical device 46, and thus the posture of the image forming unit FU To adjust the Specifically, the posture adjustment device 5 rotates the light combining device 456 around the rotation axis Rx and the rotation axis Ry respectively orthogonal to the Z axis and along the X and Y axes orthogonal to each other. Thus, the attitude of the image forming unit FU is adjusted.
Such a posture adjustment device 5 includes a first rotation unit 6, a second rotation unit 7, and a support member 8.

[Configuration of First Rotating Unit]
FIG. 6 is a perspective view of the posture adjustment device 5 in which the first rotation unit 6 is separated as viewed from the light incident side (−Z direction side), and FIG. 7 is the −X direction side of the posture adjustment device 5 It is the side view seen from.
The first rotation unit 6 supports the light combining device 456 and rotates the light combining device 456 around the rotation axis Ry. The first rotation unit 6 includes a rotation support unit 61 located on the -Y direction side with respect to the light combining device 456, and a rotation drive unit 62 located on the + Y direction side, and these rotation support units 61 and the rotation drive unit 62 are attached to the frame 71 of the second rotation unit 7 respectively.
Among these, the rotation support portion 61 supports the light combining device 456 from the -Y direction side so as to be rotatable around the rotation axis Ry.

[Configuration of rotation drive unit]
FIGS. 8 and 9 are perspective views of the rotation drive unit 62 as viewed from the light incident side (−Z direction side) and the light emission side (+ Z direction side). 10 and 11 are perspective views of the rotation drive unit 62 where the first holding member 621, the second holding member 622, and the substrate 623 are omitted from the light incident side and the light emission side.
The rotation drive unit 62 rotates the light combining device 456 around a rotation axis Ry along the + Y direction. As shown in FIGS. 8 to 11, the rotation drive unit 62 includes a first holding member 621 and a second holding member 622, and a substrate 623, a motor 624, and a worm gear 625 attached to the holding members 621 and 622, respectively. A lead screw 626, a worm wheel 627, a first pulley 628, a timing belt 629, a tensioner 630, a second pulley 631, a shaft member 632, a photosensor 633 and a potentiometer 634, and a rotation member 635 fixed to the light combining device 456; Bias members 636 (636X, 636Z), 637, 638 are provided.

The first holding member 621 is fixed to a frame 71 described later by screws, and holds the configurations 623 to 634 together with the second holding member 622. As shown in FIGS. 8 and 9, the first holding member 621 holds the second holding member 622, the substrate 623, the motor 624, the + Z direction end of the lead screw 626, and the biasing member 637. Do. In addition, the end portion on the + Y direction side of the biasing member 637 which biases the rotating member 635 to the −Y direction side abuts on the first holding member 621.
The second holding member 622 is located on the −Z direction side with respect to the first holding member 621, and is combined with the first holding member 621. The second holding member 622 holds the end on the −Z direction side of the lead screw 626, the tensioner 630, the photo sensor 633, and the potentiometer 634.

The substrate 623 drives the motor 624 based on the control signal input from the control device 9.
The motor 624 is a drive device that generates a driving force that causes the rotation member 635 fixed to the light combining device 456 to rotate. A worm gear 625 is mounted on a spindle (not shown) of the motor 624 as shown in FIGS. In the present embodiment, as the motor 624, a stepping motor for rotating a spindle in accordance with an input pulse signal is employed.
The worm gear 625 is disposed such that the rotation axis is along the + Y direction, and is rotated by the drive of the motor 624. The worm gear 625 is in mesh with the worm wheel 627. In addition to the worm gear 625, the lead screw 626, the worm wheel 627, and the pivoting member 635 are driven by the motor 624 to constitute a pivoting device that pivots the image forming unit FU around the pivot axis Ry.

The lead screw 626 is rotatably held by the first holding member 621 and the second holding member 622 so that the rotation axis can not move in the ± Z direction so that the rotation axis is along the + Z direction. The worm wheel 627 is fixed to the end on the + Z direction side of the lead screw 626, and the first pulley 628 is fixed to the end on the −Z direction side. As shown in FIG. 14, such a lead screw 626 has a spiral groove 6261 on the outer periphery substantially at the center in the + Z direction, and the spiral groove 6261 is in mesh with the rotation member 635. In addition, in the worm wheel 627, a no backlash gear is employed in order to suppress the occurrence of rattling with the worm gear 625.
Such a lead screw 626 is rotated together with the worm wheel 627 engaged with the worm gear 625 when the worm gear 625 is rotated. Thus, the pivoting member 635 engaged with the spiral groove 6261 is pivoted about the pivot axis Ry.
In addition, when the lead screw 626 is rotated, the first pulley 628 attached to the lead screw 626 is also rotated in the same direction.

The timing belt 629 is an annular belt connecting the first pulley 628 and the second pulley 631. The rotation of the first pulley 628 is transmitted to the second pulley 631 by the timing belt 629. That is, the timing belt is a transmission member that transmits the rotation of the first pulley 628 to the second pulley 631. In the present embodiment, a toothed belt (cogged belt) that engages with the teeth (or grooves) formed on the circumferential surfaces of the first pulley 628 and the second pulley 631 is employed as the timing belt 629. .
As shown in FIGS. 8 and 10, the tensioner 630 presses the timing belt 629 to suppress the occurrence of slack in the timing belt 629.
The second pulley 631 is fixed to the end on the −Z direction side of the shaft member 632. The second pulley 631 is a speed increasing gear with respect to the first pulley 628, and the rotation of the second pulley accompanying the rotation of the first pulley 628 is accelerated. That is, when the rotational force of the first pulley 628 is transmitted by the timing belt 629, the second pulley 631 is rotated more than the first pulley 628.

The shaft member 632 is disposed along the + Z direction so that the central axis is parallel to the lead screw 626, and is rotated together with the second pulley 631. As shown in FIGS. 8 and 11, the shaft member 632 is provided with a light shielding portion 6321 that blocks the light receiving portion 6331 (FIG. 11) of the photosensor 633 attached to the second holding member 622.
The shaft member 632 is connected to a potentiometer 634 as shown in FIGS. 10 and 11, and the potentiometer 634 detects the amount of rotation of the shaft member 632 and thus the rotation position of the rotation member 635. Ru. The photosensor 633 and the potentiometer 634 correspond to a rotation detection unit.
The end on the + Z direction side of the shaft member 632 is formed in a spring shape that urges the opening (not shown) of the potentiometer 634 into which the end is inserted. Thereby, generation of rattling between the shaft member 632 and the inner surface of the opening is suppressed.

FIG. 12 is a perspective view of the lead screw 626 and the rotation member 635 as viewed from the light emission side (−Z direction side).
The pivoting member 635 is adhesively fixed to the surface 456U on the + Y direction side of the light combining device 456, and as the lead screw 626 rotates, the light combining device 456 and thus the image forming unit FU is rotated about the rotation axis Ry. Move it. As shown in FIG. 12, such a pivoting member 635 has a plate-like portion 6351 along the XZ plane, a shaft portion 6352, a biasing member 6353, a protrusion 6356, and a meshing portion 6357.

The plate portion 6351 is formed in a substantially square plate shape when viewed from the + Y direction side, and the surface on the -Y direction side is adhesively fixed to the surface 456U.
The shaft portion 6352 projects from the approximate center of the plate portion 6351 in a cylindrical shape in the + Y direction. The shaft portion 6352 serves as a pivot axis Ry of the light combining device 456 (image forming unit FU). Further, the formation position of the shaft portion 6352 is a position according to the center of the light combining device 456 when viewed from the −Y direction side. An urging member 6353 having a substantially rectangular parallelepiped shape is fixed to the tip of the shaft 6352.

The biasing member 6353 abuts the inner surface of the substantially rectangular opening (not shown) of the first holding member 621 through which the shaft 6352 is inserted by the biasing member 636 (636X, 636Z). Thus, it is biased toward the -X direction and the + Z direction.
A plurality of projecting portions 6356 project radially from the circumferential surface on the −Y direction side of the shaft portion 6352. The protrusions 6356 are portions for positioning the biasing member 637 (see FIGS. 8 to 11) whose end on the + Y direction side abuts the first holding member 621. A biasing member 637, which is a spring, is disposed. When the end of the biasing member 637 on the -Y direction side abuts the surface on the + Y direction side of the plate-like portion 6351, the biasing member 637 is a pivoting member 635, and thus a light combining device 456 ( The image forming unit FU) is biased to the −Y direction side (the above-mentioned rotation support portion 61 side).

The meshing portion 6357 is a portion meshing with the spiral groove 6261 of the lead screw 626, and is formed in a square cylindrical shape surrounding the lead screw 626 in the circumferential direction. That is, the meshing portion 6357 has an opening 6358 into which the lead screw 626 is inserted along the + Z direction, and a tooth (not shown) meshing with the spiral groove 6261.
When the lead screw 626 is rotated around the rotation axis along the + Z direction by meshing between the meshing portion 6357 and the spiral groove 6261, the rotation member 635 around the shaft portion 6352, and by extension, The light combining device 456 (image forming unit) is pivoted about the pivot axis Ry.
In addition, one end of the meshing portion 6357 abuts on the first holding member 621 (specifically, the holding portion that holds the end portion of the first holding member 621 on the -Z direction side of the lead screw 626), and the other end meshes. By the biasing member 638 abutting on the portion 6357, it is biased to the + Z direction side. As a result, the meshing portion 6357 and the spiral groove 6261 are always kept in contact with each other. Such a biasing member 638 is configured by a coil spring coaxially disposed with the lead screw 626 in the present embodiment.

[Configuration of Second Rotating Unit]
FIG. 13 is a view of the posture adjustment device 5 with the first rotation unit 6 and the light combining device 456 removed, as viewed from the light incident side (−Z direction side), and FIG. It is the perspective view seen from the light-incidence side.
The second rotation unit 7 supports the first rotation unit 6 and is supported by the support member 8, and the entire rotation of the first rotation unit 6 and hence the image forming unit FU is a rotation axis Rx along the + X direction. , And is equivalent to an X rotation unit. As shown in FIGS. 13 and 14, the second pivoting portion 7 is a frame 71, a pivoting mechanism 72 for pivoting the frame 71, and a rectangle disposed between the frame 71 and the support member 8. And a frame-like sealing member 74.
Among these, the sealing member 74 seals the gap between the frame 71 and the support member 8, and the space in the −Z direction side from the space on the + Z direction side with respect to the support member 8 via the gap Intrusion of gas including dust and the like into the space on the side of arrangement of the image forming unit FU is suppressed.

[Frame configuration]
The frame 71 supports the first pivoting portion 6 and is formed in a substantially rectangular shape long in the + Y direction when viewed from the −Z direction side. The frame 71 is formed with a recess (not shown) opened in the + Z direction side, and a holding member TM for holding an optical component MN such as a retardation plate is disposed in the recess.
Such a frame 71 has an opening 711, attachment portions 712 and 713, shaft portions 714 and 715, and an engagement portion 716.

The opening 711 is an opening through which the image light emitted from the light combining device 456 passes along the + Z direction. The opening 711 is formed in a rectangular shape substantially at the center of the frame 71.
The attachment portions 712 and 713 are provided at positions sandwiching the opening 711 in the + Y direction. Among these, the first holding member 621 of the rotation drive unit 62 is attached to the attachment portion 712 located on the + Y direction side, and the rotation support portion 61 is attached to the attachment portion 713 located on the −Y direction side. It is attached.

The shaft portions 714 and 715 are portions that form the pivot axis Rx of the frame 71. Among these, the shaft portion 714 is cylindrically protruded from the side surface 71L on the + X direction side of the frame 71, and the shaft portion 715 is cylindrically protruded from the side surface 71R on the −X direction side. The shaft portions 714 and 715 are inserted from the −Z direction side into the groove portion 82 (FIG. 14) along the + X direction formed in the support member 8, and then the pressing member PM covers the shaft portions 714 and 715. By being attached to the support member 8 from the −Z direction side, the frame 71 is supported by the support member 8 so as to be rotatable about the shaft portions 714 and 715.
Here, the formation positions of the shaft portions 714 and 715 in the frame 71 are the image forming units when the central axes of the shaft portions 714 and 715 are viewed along the + Z direction with the frame 71 not rotated. The positions are set to connect the centers of the image forming areas (modulation areas) of the liquid crystal panels 454 of the light modulation devices 452 B and 452 R constituting the FU.

  The engaging portion 716 protrudes from the side surface 71U on the + Y direction side of the frame 71 to the + Y direction side, and engages with the rotation mechanism 72. More specifically, the engaging portion 716 has a female screw hole 7161 penetrating the engaging portion 716 in the + Z direction, and a lead screw 726 constituting the rotation mechanism 72 is inserted into the female screw hole 7161. Then, the lead screw 726 is rotated and the engagement portion 716 is moved along the + Z direction, whereby the frame 71 is rotated about the shaft portions 714 and 715.

[Configuration of rotation mechanism]
15 and 16 are perspective views showing the turning mechanism 72 in an enlarged manner. More specifically, FIG. 15 is a perspective view of the turning mechanism 72 as viewed from the light incident side (−Z direction side), and FIG. 16 is a perspective view as viewed from the light emission side (+ Z direction side). In FIG. 15 and FIG. 16, the illustration of the holding member 721 constituting the turning mechanism 72 is omitted.
The rotation mechanism 72 has the same configuration as the rotation drive portion 62, moves the engagement portion 716 in the ± Z direction, and rotates the frame 71 around the rotation axis Rx, Thus, the image forming unit FU is pivoted about the pivot axis Rx. Such a rotation mechanism 72 has a holding member 721 as shown in FIGS. 13 and 14, and as shown in FIGS. 15 and 16, a motor 724, a worm gear 725, a lead screw 726, a worm wheel 727, It has a first pulley 728, a timing belt 729, a tensioner 730, a second pulley 731, a shaft member 732, a photo sensor 733 and a potentiometer 734.

The holding member 721 holds the configurations 724 to 734 and is attached to the support member 8.
The motor 724 is a stepping motor that is driven according to the input pulse signal, and is a driving device that generates a driving force that rotates the frame 71. The motor 724 is arranged such that a spindle (not shown) is along the + X direction.
The worm gear 725 is attached to the spindle of the motor 724. In the same manner as described above, the worm gear 725, the lead screw 726, the worm wheel 727, and the frame 71 constitute a rotating device for rotating the image forming unit FU.

The lead screw 726 is an axial member disposed along the + Z direction, and is supported by the holding member 721 so as to be pivotable about a pivot axis along the + Z direction in a state where it can not move in the ± Z direction. Ru. The worm wheel 727 is fixed to the end of the lead screw 726 on the + Z direction side, and the first pulley 728 is fixed to the end on the −Z direction side. At the center of the lead screw 726 in the + Z direction, a spiral groove 7261 which meshes with the female screw hole 7161 of the engaging portion 716 is formed.
Then, when the motor 724 is driven and the worm gear 725 is rotated, the lead screw 726 is rotated integrally with the worm wheel 727 engaged with the worm gear 725. Thereby, the frame 71 (engaging portion 716) engaged with the lead screw 726 is moved in the ± Z direction, and the frame 71 is rotated as described above.

The timing belt 729 is a toothed belt that connects the first pulley 728 and the second pulley 731 and transmits the rotation of the first pulley 728 to the second pulley 731.
The tensioner 730 presses the timing belt 729 to suppress the occurrence of slack in the timing belt 729.

The second pulley 731 is, like the second pulley 631, an acceleration gear for the first pulley 728, and when the rotation of the first pulley 728 is transmitted by the timing belt 729, more than the first pulley 728. It is pivoted.
The shaft member 732 is disposed along the + Z direction such that the central axis is parallel to the lead screw 726. The shaft member 732 is provided with a light shielding portion 7321 that shields the light receiving portion 7331 (FIG. 15) of the photo sensor 733 disposed on the + Y direction side with respect to the shaft member 732.
The shaft member 732 is connected to a potentiometer 734. The potentiometer 734 detects the amount of rotation of the shaft member 732 and thus the rotation position of the frame 71.

In such a pivoting mechanism 72, when the worm gear 725 attached to the motor 724 is pivoted about a pivot along the + X direction, the lead screw 726 is rotated along with the worm wheel 727 engaged with the worm gear 725. Be moved. Since the spiral groove 7261 of the lead screw 726 is engaged with the female screw hole 7161 of the engaging portion 716, the engaging portion 716 is moved in the ± Z direction, whereby the frame 71 is formed into the shaft portion 714, 715 is pivoted about the pivot axis Rx.
In addition, the rotation of the lead screw 726 is transmitted to the shaft member 732 provided with the second pulley 731 via the first pulley 728 and the timing belt 729. The pivoting of the shaft member 732 is detected by a potentiometer 734. Further, the detection result of the photo sensor 733 by the light shielding portion 7321 provided on the shaft member 732 is used for returning the frame 71 to the origin.

[Configuration of support member]
The supporting member 8 supports the second rotating portion 7 and further supports the first rotating portion 6 and the image forming unit FU, and as shown in FIG. It is formed in a substantially rectangular shape long in the direction. The support member 8 has an opening 81, a groove 82, attachment portions 83, 84, 85 and a fixing portion 86.
The opening 81 is formed in a rectangular shape that is long in the + Y direction at the center of the support member 8 so as to penetrate the support member 8 in the + Z direction. The opening 81 is an opening through which the image light emitted from the image forming unit FU passes, and the image light is incident on the projection optical device 46 attached to the support member 8.

  The groove 82 is formed along the + X direction at each position on the + X direction side and the −X direction side with respect to the opening 81. The shaft portions 714 and 715 are inserted into the grooves 82 from the −Z direction side. The pressing member PM is attached to the support member 8 so as to cover the shaft portions 714 and 715 from the −Z direction side, whereby the frame 71 is rotatably supported by the support member 8.

The attachment portions 83 are provided at four corners of the opening 81 formed in a rectangular shape. Biasing members BMZ that bias the frame 71 in the −Z direction are attached to the attachment portions 83, respectively.
The attachment portion 84 is provided on the + X direction side with respect to the opening 81 and at two positions sandwiching the groove 82 in the + Y direction, and on the −X direction side with respect to the opening 81 and with respect to the groove 82 One is provided at the position on the + Y direction side. Among these, in the mounting portion 841 positioned on the + X direction side and the + Y direction side, a biasing member BMX for biasing the frame 71 to the −X direction side, and the frame 71 to the −Y direction side A biasing member BMY for biasing is attached. Further, a biasing member BMX that biases the frame 71 in the −X direction is attached to the attachment portion 842 positioned on the + X direction side and the −Y direction side. Furthermore, a biasing member BMY for biasing the frame 71 in the -Y direction is attached to the mounting portion 843 positioned on the -X direction side. By these biasing members BMX, BMY and BMZ, rattling of the frame 71 in which the shaft portions 714 and 715 are disposed in the groove portion 82 is suppressed.

The mounting portion 85 is located on the side surface of the support member 8 in the + Y direction. The rotation mechanism 72 (holding member 721) is attached to the attachment portion 85.
The fixing portion 86 extends from the end of the support member 8 in the −Y direction to the + Z direction. The fixing portion 86 is a portion for fixing the support member 8 to a base member (not shown) provided in the exterior housing 2 along the bottom surface portion.

[Configuration of control unit]
FIG. 17 is a block diagram showing the configuration of the control device 9.
The control device 9 includes an arithmetic circuit such as a CPU (Central Processing Unit) and a storage circuit such as a flash memory, and controls the operation of the projector 1. For example, the control device 9 controls lighting of the light source device 41, processes input image information, and outputs an image signal corresponding to the image information to the light modulation device 452 (liquid crystal panel 454). To Further, the control device 9 according to the present embodiment controls the operation of the posture adjustment device 5.
As shown in FIG. 17, such a control device 9 includes a storage unit 91, a preliminary adjustment unit 92, an abnormality output unit 93, an operation control unit 94, an abnormality determination unit 95, an abnormality notification unit 96, and a recovery operation unit 97. .

  The storage unit 91 stores various programs and data necessary for the operation of the projector 1. For example, the storage unit 91 stores the lighting time of the light source device 41, in addition to storing the correction value used when correcting the input image information. In addition to this, the storage unit 91 includes a prescribed amount storage unit 911 and an abnormality storage unit 912.

The prescribed amount storage unit 911 stores a prescribed amount used in an origin return process described later. The prescribed amount is a value stored in advance in a factory or the like before shipping the projector 1, and is set according to each of the first rotation unit 6 and the second rotation unit 7. Among these, the first prescribed amount corresponding to the first rotating portion 6 is a shielding state in which the light receiving portion 6331 (see FIG. 11) of the photosensor 633 is shielded by the light shielding portion 6321 of the shaft member 632, The pivoting amount for moving the shaft member 632 and hence the light combining device 456 to the origin position from the change position where the portion 6331 is not shielded is switched to the origin position, and the amount of rotation is the number of steps (number of pulses) of the motor 624 expressed. Further, the second prescribed amount corresponding to the second rotating portion 7 is a shielding state in which the light receiving portion 7331 (see FIG. 15) of the photosensor 733 is shielded by the light shielding portion 7321 of the shaft member 732; It is the amount of rotation to move the shaft member 732 and hence the light combining device 456 to the origin position from the change position where the unshielded state is not shielded is switched, and the amount of rotation is represented by the number of steps (number of pulses) of the motor 724 .
In the first pivoting portion 6, the origin position is a position that is centered on the pivoting axis Ry and is the center in a movement range (pivoting range) assumed in advance, and the second pivoting portion 7 In the above, it is a position that is centered on the rotation axis Rx and is the center in a previously assumed movement range (rotation range). Further, the origin position is a position in the state where the attitude adjustment by the attitude adjustment device 5 is not performed, and is also a position at the time of factory shipment.

  The abnormality storage unit 912 stores the content of the abnormality when it is determined that an abnormality has occurred by the pre-adjustment unit 92 and the return operation unit 97 described later. Specifically, the abnormality storage unit 912 stores an error code indicating the content of the abnormality. The abnormality storage unit 912 can store a plurality of error codes.

The preliminary adjustment unit 92 functions, for example, before shipment from the factory, executes a prescribed amount acquisition process described later, and stores the acquired prescribed amounts (the first prescribed amount and the second prescribed amount) in the prescribed amount storage unit 911 .
The abnormality output unit 93 outputs the contents of the abnormality that has occurred in the specified amount acquisition process.
The operation control unit 94 operates the projector 1 according to the user's operation. For example, the operation control unit 94 operates the posture adjustment device 5 according to the user's operation.

  The abnormality determination unit 95 determines whether an abnormality has occurred in the projector 1, in particular, the posture adjustment device 5. For example, based on the detection results of the potentiometers 634 and 734, the abnormality determination unit 95 determines whether or not a failure such as a step-out has occurred in the motors 624 and 724. Further, based on the detection results of potentiometers 634 and 734, abnormality determination unit 95 determines whether the current position of image forming unit FU is outside the assumed movement range, and the position is assumed. It is determined whether the position is Then, when the abnormality determination unit 95 determines that the motor 624, 724 has a problem, it determines that the current position of the image forming unit FU is out of the movement range, and the position is assumed. If it is determined that the position is not at the predetermined position, it is determined that an abnormality has occurred.

The abnormality notification unit 96 is a user that performs an origin return process described later when the operation control unit 94 determines that an abnormality has occurred while the posture adjustment device 5 is operating. Alert to In addition to this, the abnormality notification unit 96 notifies the details of the abnormality that has occurred in the origin return process described later.
When the user performs an operation for executing the home position return process, the return operation unit 97 executes the home position return process to return the image forming unit FU to the home position.

[Specified amount acquisition processing]
Here, the prescribed amount acquisition process for acquiring the prescribed amount will be described.
The predetermined amount acquisition process is performed by the advance adjustment unit 92 when the projector 1 is shipped from the factory, and the like, and is a process for acquiring the predetermined amount stored in the predetermined amount storage unit 911. When the specified amount acquisition process is performed, the center of the assumed movement range (the center of the rotation range around the rotation axis Ry and the rotation range around the rotation axis Rx) Of the image forming unit FU), that is, at the origin position.

This prescribed amount acquisition process is a first prescription for acquiring a first prescribed amount used in the first origin return process for returning the image forming unit FU to the origin position within the rotation range centered on the rotation axis Ry. Acquisition of a second specified amount for acquiring a second specified amount used in the amount acquisition processing and the second origin return processing for returning the image forming unit FU to the origin position within the rotation range around the rotation axis Rx And processing. That is, in the predetermined amount acquisition process, the first predetermined amount acquisition process of operating the first rotation unit 6 to acquire the first predetermined amount and the second rotation unit 7 of operating the second rotation unit 7 And a second predetermined amount acquisition process to be acquired. In the present embodiment, the first origin return processing and the second origin return processing are simultaneously executed, but one of the first origin return processing and the second origin return processing may be executed first, and the other may be executed later. Good.
Hereinafter, although the first predetermined amount acquisition process will be described, although the operation target and the abnormality determination target are different, the second predetermined amount acquisition process also executes the same process as the first predetermined amount acquisition process, so the second predetermined amount Description of acquisition processing is omitted.

FIG. 18 is a flowchart showing the first prescribed amount acquisition process.
In this first prescribed amount acquisition process, as shown in FIG. 18, the prior adjustment unit 92 first initializes the content (error code) of the abnormality stored as the failure history in the abnormality storage unit 912 (step SA1). ).
Thereafter, the pre-adjustment unit 92 turns on the power of the photosensor 633 to activate the photosensor 633 (step SA2).
Next, the pre-adjustment unit 92 rotates the shaft member 632 so that the light shielding portion 6321 of the shaft member 632 is positioned at the change position where the shielding state and the non-shielding state are switched by driving the motor 624. (Step SA3).

FIG. 19 is a view showing the positional relationship between the photosensor 633 and the light shielding portion 6321.
When step SA3 is performed, as shown in FIG. 19, in the first rotation unit 6, when the light shielding unit 6321 is not positioned between the light receiving unit 6331 and the light emitting unit 6332 (not If the output voltage from the photosensor 633 is Low), the pre-adjustment unit 92 causes the shaft member 632 to move in the −D direction, which is the direction in which the light shielding unit 6321 shields the light receiving unit 6331. Drive the motor 624 so as to rotate.
On the other hand, in the case where the light shielding portion 6321 is located between the light receiving portion 6331 and the light emitting portion 6332 (in the case of the shielding state, and the output voltage from the photosensor 633 is High), the preadjustment is performed. The unit 92 drives the motor 624 such that the shaft member 632 rotates in the + D direction, which is a direction in which the light shielding unit 6321 does not shield the light receiving unit 6331.
The position of the shaft member 632 when the light receiving portion 6331 changes from the non-shielding state to the shielding state by the shaft member 632 thus rotated, or the position of the shaft member 632 when the shielding state changes to the non-shielding state. The position is the change position.
In such step SA3, the pre-adjustment unit 92 determines the number of steps of the motor 624 from the home position until the shaft member 632 reaches the change position, and the rotation direction of the shaft member 632 (driving direction of the motor 624). And memorize.

At the time of performing step SA3, the pre-adjustment unit 92 determines whether or not the motor 624 has a problem such as a step out or the like, or the photo sensor 633 or the potentiometer 634 has an abnormality (step SA4).
In this determination process, if the prior adjustment unit 92 determines that at least one of these abnormalities has occurred (step SA4: YES), the process proceeds to step SA13.
On the other hand, when the preliminary adjustment unit 92 determines that no abnormality has occurred in the determination process (step SA4: NO), the preliminary adjustment unit 92 shifts the process to step SA5.

  In step SA5, the preliminary adjustment unit 92 drives the motor 624 to rotate the shaft member 632 by a predetermined amount while the light receiving unit 6331 is in the closed state, and overruns the light shielding unit 6321 from the change position (step SA5). ). Specifically, the preliminary adjustment unit 92 rotates a predetermined amount (for example, 40 steps) in the −D direction from the state where the shaft member 632 is located at the change position.

At the time of execution of step SA5, the preliminary adjustment unit 92 determines whether or not an abnormality (including the above-mentioned failure) has occurred, as in step SA4 (step SA6).
In this determination process, if the prior adjustment unit 92 determines that an abnormality has occurred (step SA6: YES), the process proceeds to step SA13.
On the other hand, when the preliminary adjustment unit 92 determines that no abnormality has occurred in the determination process (step SA6: NO), the preliminary adjustment unit 92 shifts the process to step SA7.

  In step SA7, the preliminary adjustment unit 92 drives the motor 624 such that the rotation direction of the shaft member 632 is reversed with respect to the rotation direction of the shaft member 632 in step SA5, and the shaft member 632 ( The light shielding portion 6321) is positioned at the change position (step SA7). At this time, the preliminary adjustment unit 92 stores the number of steps of the motor 624 when reaching the change position from the position of the shaft member 632 before the step SA7 is performed (the position overrun in the step SA5).

At the time of execution of step SA7, the preliminary adjustment unit 92 determines whether or not an abnormality occurs in the first rotation unit 6 as in the above steps SA4 and SA6 (step SA8).
In this determination process, if the prior adjustment unit 92 determines that an abnormality has occurred (step SA8: YES), the process proceeds to step SA13.
On the other hand, when the pre-adjustment unit 92 determines that no abnormality has occurred in the determination process (step SA8: NO), the process proceeds to step SA9.

In step SA9, the preliminary adjustment unit 92 determines the prescribed amount based on the number of steps of the motors 624 and 724 in steps SA3, SA5, and SA7 (step SA9).
For example, the number of steps of the motor 624 in steps SA3, SA5, and SA7 is given a positive or negative sign according to the rotation direction of the shaft member 632. For example, in step SA3, when the shaft member 632 is rotated in step -3 in the -D direction, the number of steps in step SA3 is set to "-st3". When the shaft member 632 is rotated in the -D direction in step SA5 in step SA5, the number of steps in step SA5 is set to "-st5". On the other hand, when the shaft member 632 is rotated in the + D direction in step SA7 in step SA7, the number of steps in step SA7 is set to "+ st7". Then, the preliminary adjustment unit 92 adds the number of steps of these steps SA3, SA5, and SA7 all together, and determines a value obtained by multiplying “−1” as the above-mentioned prescribed amount. For example, in the above example, the prescribed amount is "-((-st3) + (-st5) + (+ st7))".

  If the defined amount thus determined is a negative number, the position of the shaft member 632 rotated in the −D direction from the change position by the number of steps corresponding to the absolute value of the defined amount is the shaft member The position of the image forming unit FU in this state is the origin position in the rotation range around the rotation axis Ry. In addition, if the defined prescribed amount is a positive number, the position of the shaft member 632 rotated in the + D direction from the change position by the number of steps corresponding to the absolute value of the prescribed amount is the axial member 632 The position of the image forming unit FU in this state is the position of the origin in a rotation range centered on the rotation axis Ry for the image forming unit FU.

In step SA10, the pre-adjustment unit 92 drives the motor 624 based on the defined amount determined in step SA9 to restore the light combining device 456 (image forming unit FU) to the above-mentioned home position (step SA10).
At the time of performing steps SA9 to SA11, the preliminary adjustment unit 92 determines whether or not an abnormality has occurred in the first rotation unit 6 as described above (step SA12).
In this determination process, if the prior adjustment unit 92 determines that an abnormality has occurred (step SA12: YES), the process proceeds to step SA13.
On the other hand, when the pre-adjustment unit 92 determines that no abnormality has occurred in the determination processing (step SA12: NO), the pre-adjustment unit 92 shifts the processing to step SA14.

In step SA13, the prior adjustment unit 92 outputs the content of the generated abnormality by the abnormality output unit 93 (step SA13). Specifically, in step SA13, the prior adjustment unit 92 stores an error code corresponding to the content of the generated abnormality in the abnormality storage unit 912, and the abnormality output unit 93 generates the error code and the abnormality. Are output to the outside (for example, a display device connected to the control device 9). As a result, these messages and error codes are displayed. As such an error code, an error code indicating an abnormality of each of the motor 624, the potentiometer 634 and the photosensor 633 can be mentioned.
After this step SA13, the pre-adjustment unit 92 shifts the processing to step SA14.

In step SA14, the pre-adjustment unit 92 turns off the photosensor 633 (step SA14). Thus, the first predetermined amount acquisition process is ended.
In addition, the preliminary adjustment unit 92 executes the second prescribed amount acquisition process using the second rotation unit 7 in the same manner as the first prescribed amount acquisition process.
The prescribed amounts (the first prescribed amount and the second prescribed amount) acquired by executing the first prescribed amount acquisition process and the second prescribed amount acquisition process are stored in the prescribed amount storage unit 911 and are used as the origin return process. Are read and used.

[Home point return processing]
The abnormality determination unit 95 of the control device 9 monitors the operation of the posture adjustment device 5 by the operation control unit 94 according to the user's operation.
Here, if a malfunction such as a step out of the motors 624 and 724 or a malfunction of the potentiometers 634 and 734 occurs or the current posture of the image forming unit FU is lost due to a power failure, an image is formed outside the expected moving range. An abnormality may occur in which the unit FU moves or the image forming unit FU can not be positioned in the aimed posture.
When the abnormality determination unit 95 determines that such an abnormality has occurred based on the detection results of the potentiometers 634 and 734, the abnormality notification unit 96 displays a message prompting the user to execute the origin return process. Output to the projection device 4. Thereby, an image including the message is formed and displayed by the image projection device 4. When the user performs an operation to execute the origin return process on the operation unit (not shown) with respect to such a message, the control device 9 executes the origin return process described below.
Further, the control device 9 executes the origin return process when the power of the projector 1 is turned on or off, and determines whether the predetermined condition is satisfied constantly or at predetermined intervals, and the predetermined condition is satisfied. If it is determined, the origin return process is executed.

The origin return process is executed by the return operation unit 97 to return the image forming unit FU to the above-mentioned origin position. The home position return process includes a first home position return process and a second home position return process, and the first home position return process is an image at the home position in a rotation range centered on the rotation axis Ry by the first rotation unit 6 The processing for returning the formation unit FU is a processing for returning the image forming unit FU to the origin position in the rotation range centered on the rotation axis Rx by the second rotation part 7. Note that, in the present embodiment, the return operation unit 97 performs an origin return process that is performed using the rotating unit that is determined by the abnormality determination unit 95 that an abnormality has occurred in the first origin return process and the second origin return process. Run. For example, when it is determined that an abnormality has occurred in the first rotation unit 6, the return operation unit 97 executes a first origin return process. However, the present invention is not limited to this, and when it is determined that an abnormality has occurred, or when the user performs an operation to execute an origin return process, the return operation unit 97 performs the first origin return process and the second origin return process. You may run each of At this time, the first origin return process and the second origin return process may be performed simultaneously, or one of the first origin return process and the second origin return process may be performed first, and the other may be performed later. .
Hereinafter, although the case where the return operation unit 97 executes the first origin return process will be described, the second origin return process also performs the same process as the first origin return process although the operation target and the abnormality determination target are different. Since the process is performed on the configuration of the moving unit 7, the description of the second origin return process is omitted.

FIG. 20 is a flowchart showing the first origin return process.
In the first origin return process, as shown in FIG. 20, first, the return operation unit 97 turns on the power of the photosensor 633 to activate the photosensor 633 (step SB1).
Further, the return operation unit 97 drives the motor 624 relatively largely in order to confirm whether or not an abnormality occurs in the potentiometer 634 (step SB2). For example, the return operation unit 97 drives the motor 624 to such an extent that the light shielding unit 6321 switches between the shielding state and the non-shielding state of the light receiving unit 6331.

When the step SB2 is performed, the recovery operation unit 97 determines whether or not an abnormality occurs in the motor 624 and the potentiometer 634 based on the detection result (the output voltage value from the potentiometer 634) by the potentiometer 634 (step SB3). For example, even if the motor 624 is driven, if there is no change in the output voltage value from the potentiometer 634, or if the output voltage value is an abnormal value, there is a possibility that the potentiometer 634 has an abnormality, or It is possible that an abnormality has occurred at 624 and the machine has stopped.
If the recovery operation unit 97 determines that such an abnormality has occurred (step SB3: YES), the recovery operation unit 97 transfers the process to step SB13.

On the other hand, when the recovery operation unit 97 determines that no abnormality has occurred in the determination processing of step SB3 (step SB3: NO), the recovery operation unit 97 drives the motor 624 to output the output from the potentiometer 634. Based on the voltage value, the image forming unit FU is moved to near the origin position (step SB4).
Then, the return operation unit 97 determines whether or not an abnormality has occurred in the photosensor 633 (step SB5). For example, although the above steps SB2 and SB4 are executed, the motor 624 is driven to such an extent that the shielding state and the non shielding state of the light receiving unit 6331 are switched, and the output voltage value from the potentiometer 634 is normal. If there is no change in the output signal level from the above, there is a possibility that an abnormality has occurred in the photosensor 633.
In the determination process of step SB4, when the recovery operation unit 97 determines that an abnormality occurs in the photosensor 633 (step SB5: YES), the recovery operation unit 97 shifts the process to step SB13. In this state, the image forming unit FU is in a state of being rotated to near the origin position by the operation of the first rotation unit 6 by the return operation unit 97 based on the detection result of the potentiometer 634.

On the other hand, if the recovery operation unit 97 determines that no abnormality has occurred in the determination processing in step SB5 (step SB5: NO), the recovery operation unit 97 drives the motor 624 and the detection by the photosensor 633 is performed. Based on the result (the output signal level), the shaft member 632 is moved to the change position (step SB6: change position moving procedure).
At the time of execution of step SB6, the return operation unit 97 determines whether or not an abnormality occurs in the operation of the first rotation unit 6 (step SB7).
In the determination process of step SB7, when the recovery operation unit 97 determines that an abnormality has occurred (step SB7: YES), the recovery operation unit 97 shifts the process to step SB13.
On the other hand, when the recovery operation unit 97 determines that no abnormality has occurred in the determination processing (step SB7: NO), the recovery operation unit 97 shifts the processing to step SB8.

In step SB8, the return operation unit 97 drives the motor 624 to rotate the shaft member 632 in the −D direction by a predetermined amount so as to maintain the shielding state of the light receiving unit 6331 as in step SA5. The light shielding portion 6321 is overrun in the −D direction from the change position (step SB8: predetermined amount rotation procedure).
When this step SB8 is performed, the return operation unit 97 determines whether or not an abnormality occurs in the operation of the first rotation unit 6 (step SB9), as in the case of the above step SB7. When it is determined that there is (step SB9: YES), the process proceeds to step SB13, and when it is determined that no abnormality occurs (step SB9: NO), the process proceeds to step SB10.

In step SB10, as in step SA7, the return operation unit 97 drives the motor 624 so that the pivoting direction of the shaft member 632 is reversed, and the shaft member 632 is moved based on the detection result by the photo sensor 633. It is positioned at the change position (step SB10: reverse movement procedure).
When this step SB10 is performed, the return operation unit 97 determines whether or not an abnormality occurs in the operation of the first rotation unit 6 as in the above steps SA7 and SA9 (step SB11). If it is determined that the process is performed (step SB11: YES), the process proceeds to step SB13, and if it is determined that no abnormality occurs (step SB11: NO), the process proceeds to step SB12. .

  In step SB12, the return operation unit 97 drives the motor 624 based on the prescribed amount (first prescribed amount) stored in the prescribed amount storage unit 911, and the shaft member 632, and thus the image forming unit FU. It returns to each home position (step SB12: home position return procedure). Thereafter, the return operation unit 97 shifts the processing to step SB14.

Step SB13 is performed when it is determined in step SB3, SB5, SB7, SB9, SB11 that an abnormality has occurred. At step SB13, the control device 9 executes an error process (step SB13). For example, in step SB13, the abnormality notification unit 96 sends a message indicating that an abnormality has occurred to the posture adjustment device 5 (the first rotation unit 6 in the first origin return process) to the user using the image projection device 4. The notification or the operation control unit 94 restricts the operation of the posture adjustment device 5 so that the user can not use the posture adjustment device 5.
After this, the control device 9 shifts the processing to step SB14.

At step SB14, the return operation unit 97 turns off the photo sensor 633 (step SB14). Thus, the origin return process is completed.
In such first origin return processing, using the first prescribed amount acquired in the first prescribed amount acquisition processing, the image forming unit FU is set at the origin position in the rotation range centered on the rotation axis Ry. Can be restored, and the posture of the image forming unit FU can be returned to the original.
Although the description has been omitted, the return operation unit 97 can return the image forming unit FU to the origin position in the rotation range around the rotation axis Rx by executing the second origin return process. The posture of the image forming unit FU can be returned to the original.

According to the projector 1 according to the embodiment described above, the following effects can be achieved.
When a malfunction such as a step out occurs in the motor 624 or when the image forming unit FU is rotated out of the expected range, the control device 9 can grasp these abnormalities based on the detection result by the potentiometer 634. . When it is determined by the abnormality determination unit 95 that such an abnormality has occurred, the return operation unit 97 executes an origin return process (first origin return process) to rotate the lead screw 626. The rotational state of the shaft member 632 to be transmitted is grasped based on the detection result by the photo sensor 633, and the image forming unit FU is returned to the home position. According to this, without using an absolute encoder, the above abnormality and the pivoting state of the shaft member 632 can be detected by a relatively inexpensive potentiometer, and the detection result by the relatively inexpensive and highly accurate photo sensor 633 The image forming unit FU can be accurately returned to the origin position based on the above. Therefore, when an abnormality occurs, the image forming unit FU to be moved can be reliably returned to the origin position, and the manufacturing cost of such a projector 1 can be suppressed. The same applies to the case where the abnormality determination unit 95 determines that a malfunction or abnormality has occurred in the operation of the second rotation unit 7 and the return operation unit 97 executes the second origin return process.

  In the first origin return process, at step SB12, the return operation unit 97 drives the motor 624 as the drive device so that the shaft member 632 located at the change position is rotated by the first prescribed amount. Thus, the image forming unit FU (photo-synthesizer 456) is returned to the home position. According to this, the image forming unit FU can be reliably returned to the home position. The same applies to the second origin return process.

  In the first origin return process, after the shaft member 632 is positioned at the change position in step SB6, the return operation unit 97 executes the steps SB8 and SB10 to turn the shaft member 632 back and forth. According to this, for example, regardless of the pivoting direction of the shaft member 632 when reaching the change position in step SB6, detection variation of the photosensor 633 according to the pivoting direction (operating direction), the driving of the motor 624 Variations in rotation of the shaft member 632 in the direction (rotational direction) and backlash can be further suppressed. Then, in step SB12, by rotating the shaft member 632 by the amount of the prescribed amount (first prescribed amount) from the change position in the direction opposite to the rotational direction of the shaft member 632 in step SB6. The image forming unit FU can be reliably returned to the origin position in the range of rotation about the rotation axis Ry. The same applies to the second origin return process.

  In the first origin return process, the return operation unit 97 positions the shaft member 632 at the change position based on the detection result by the photosensor 633 in step SB6, and then executes the steps SB8 and SB10. According to this, since the shaft member 632 can be accurately disposed at the change position based on the detection result of the photo sensor 633, the image forming unit FU can be accurately returned to the origin position. The same applies to the second origin return process.

  In the first home position return process, the return operation unit 97 drives the motor 624 based on the detection result by the potentiometer 634 in step SB4 before positioning the shaft member 632 in the change position in step SB6. The image forming unit FU is positioned near the home position. According to this, even if the recovery operation unit 97 is configured not to execute steps SB6 to SB12 due to the occurrence of abnormality in the photosensor 633, the image forming unit FU is located near the origin position based on the detection result by the potentiometer 634. It can be located in Therefore, the projector 1 can be used in a state where the image forming unit FU is located near the origin position.

  The control device 9 has a prescribed amount storage unit 911 for storing the prescribed amount, and the return operation unit 97 sets the prescribed amount stored in the prescribed amount storage unit 911 in the origin return process (in the first origin return process, The first prescribed amount and the second prescribed amount in the second home position return process are acquired, and the home position return of the image forming unit FU in step SB12 is performed. According to this, the prescribed amount is stored in advance in the prescribed amount storage unit 911 by executing the prescribed amount acquisition process (the first prescribed amount acquisition process and the second prescribed amount acquisition process). The image forming unit FU can be reliably returned to the home position.

  If the return operation unit 97 determines that an abnormality has occurred during execution of the origin return process, the return operation unit 97 causes the abnormality storage unit 912 to store the contents of the generated abnormality. According to this, it is possible to easily analyze the cause of the generated abnormality.

  The origin position is a central position in the movement range of the image forming unit FU by the posture adjustment device 5 (range of rotation around the rotation axis Rx and range of rotation around the rotation axis Ry). is there. According to this, it is possible to reliably restore the state before the attitude adjustment of the image forming unit FU by the attitude adjusting device 5.

  The posture adjustment device 5 includes first pulleys 628 and 728 integrally provided to the lead screws 626 and 726, second pulleys 631 and 731 integrally provided to the shaft members 632 and 732 and first pulleys 628 and 728. And timing belts 629 and 729 as transmission members for transmitting the rotation of the second pulleys to the second pulleys 631 and 731. According to this, the rotation of the lead screws 626 and 726 is transmitted to the shaft members 632 and 732 via the first pulleys 628 and 728, the timing belts 629 and 729, and the second pulleys 631 and 731. , 732 are detected by the photosensors 633 and 733 and the potentiometers 634 and 734. According to this, the amount of rotation of the lead screw 626, 726 for changing the posture of the image forming unit FU is reliably ensured by the photosensors 633, 733 and the potentiometers 634, 734 arranged at positions away from the lead screw 626, 726. Can be detected. Therefore, the freedom of arrangement of the photosensors 633 and 733 and the potentiometers 634 and 734 can be improved.

  The second pulleys 631, 731 accelerate rotation of the first pulleys 628, 728 transmitted via the timing belts 629, 729. According to this, the rotational state of the shaft member 632, 732 can be easily detected by the photosensors 633, 733 and the potentiometers 634, 734, and the rotational state of the lead screws 626, 726 and hence the image forming unit FU. It is possible to improve the detection accuracy of the posture of Therefore, the posture of the image forming unit FU which is the posture adjustment target can be detected in more detail.

The first rotation unit 6 has a plurality of sensors, ie, the photosensor 633 and the potentiometer 634, as the rotation detection unit, so that it is possible to distinguish between an abnormality of the motor 624 and an abnormality of the photosensor 633 and the potentiometer 634. Furthermore, as shown in step SB6, even if an abnormality occurs in the photosensor 633, if an abnormality does not occur in the motor 624 and the potentiometer 634, the motor 624 is detected based on the detection result by the potentiometer 634. Can be driven to move the image forming unit FU to the vicinity of the home position. Further, steps SB6, SB8, SB10, and SB12 do not require the detection result of the potentiometer 634. Therefore, even if an abnormality occurs in the potentiometer 634, the image forming unit FU based on the detection result of the photo sensor 633. Can be returned to the home position, and the projector 1 can be used in a state where the image forming unit FU is located at the home position. The same applies to the second origin return process performed using the second pivoting unit 7 and the second pivoting unit 7.
If an abnormality occurs in the photo sensor 633, steps SB6 to SB12 for returning the image forming unit FU to the original position may be performed without executing the abnormality even if the abnormality occurs in the potentiometer 634.

[Modification of the embodiment]
The present invention is not limited to the above-described embodiment, and modifications, improvements, and the like as long as the object of the present invention can be achieved are included in the present invention.
In the above embodiment, for example, when it is determined that an abnormality has occurred in the posture adjustment device 5, the control device 9 displays a message prompting the execution of the above-mentioned return-to-origin processing, and the return-to-origin is performed according to the user's operation. It was supposed to execute the process. However, the present invention is not limited to this, and the control device 9 (return operation unit 97) may be configured to autonomously execute the origin return process when it is determined by the abnormality determination unit 95 that an abnormality has occurred. Needless to say, the origin return process can be performed at the timing desired by the user.

  In the above embodiment, in the first origin return process, the return operation unit 97 moves the image forming unit FU to the vicinity of the origin position based on the detection result by the potentiometer 634, and then based on the detection result by the photo sensor 633. After the movement of the shaft member 632 to the change position, the overrun of the shaft member 632 and the re-movement (reverse movement) of the shaft member 632 to the change position are performed, the movement to the origin position is performed. However, the present invention is not limited to this. The return operation unit 97 may not move the image forming unit FU to the vicinity of the origin position based on the detection result of the potentiometer 634 (that is, step SB4). In addition, the return operation unit 97 may not perform the overrun of the shaft member 632 and the re-movement to the change position. The same applies to the second origin return process.

  In the above embodiment, when the light shielding portion 6321 is overrun in step SA5 in the first prescribed amount acquisition processing and step SB8 in the first origin return processing, the light shielding portion 6321 causes the photosensor 633 to be in the shielding state. It is supposed to be maintained. However, the invention is not limited to this, and the light shielding portion 6321 (shaft member 632) may be rotated in the direction in which the photosensor 633 is in the non-shielding state. That is, the light shielding portion 6321 (shaft member 632) disposed at the change position may be reciprocally rotated at steps SA5 and SA7 and steps SB8 and SB10. Furthermore, even if the drive direction of the motor 624 (rotation direction of the shaft member 632) is reverse, such reciprocation is omitted if the rotation amount of the shaft member 632 is the same with the same number of steps. You may The same applies to the second prescribed amount acquisition process and the second origin return process.

  In the above embodiment, the prescribed amount is stored in the prescribed amount storage unit 911 and read out from the prescribed amount storage unit 911 when the origin return processing is performed. However, the present invention is not limited to this, a configuration in which a prescribed amount is input by the user or the like may be used, or a configuration in which it is acquired from the outside as needed may be used. Furthermore, if the prescribed amount can be acquired, the prescribed amount acquisition process may not be performed.

  In the above embodiment, the control device 9 includes the abnormality storage unit 912 in which the error code indicating the content of the abnormality is stored. Such an abnormality storage unit 912 may not be configured by a nonvolatile memory such as a flash memory, and may be configured by a volatile memory such as a RAM. That is, the error code may not necessarily be held permanently. In addition, when it is determined that an abnormality has occurred, an error code may be output to the outside. Furthermore, the content of the abnormality may be held as other information instead of the error code.

  In the above embodiment, the origin position of the image forming unit FU is the center of the movement range of the image forming unit FU (the center of the range of rotation about the rotation axis Ry and the rotation axis Rx) Center of the range of rotation). However, the present invention is not limited to this, and the origin position may be any position as long as it is a predetermined position. For example, the origin position may be one end in the movement range.

In the above embodiment, the posture adjustment device 5 includes first pulleys 628 and 728 integrally provided with the lead screws 626 and 726, second pulleys 631 and 731 integrally provided with the shaft members 632 and 732, and Timing belts 629 and 729 for transmitting the rotation of the first pulley 628 and 728 to the second pulleys 631 and 731. However, the mechanism for transmitting the rotation of the lead screws 626, 726 to the shaft members 632, 732 when the shaft members 632, 732 rotate according to the rotation of the lead screws 626, 726 is not limited thereto. The configuration can be changed as appropriate.
In addition, if the arrangement of the photosensors 633 and 733 and the potentiometers 634 and 734 is possible, they may be configured to directly detect the rotational state of the lead screws 626 and 726.

  In the above embodiment, the second pulleys 631 and 731 accelerate rotation of the first pulleys 628 and 728. However, not limited to this, the second pulleys 631 and 731 may not accelerate the rotation. Further, another pulley may be provided between the first pulley and the second pulley, and the rotation of the first pulley may be transmitted to the second pulley via the other pulley.

In the above embodiment, the first rotation portion 6 of the posture adjustment device 5 has the timing belt 629 as a transmission member for transmitting the rotation of the first pulley 628 to the second pulley 631 and presses the timing belt 629. With a tensioner 630. However, it is not limited to this. That is, the transmission member may have a configuration other than the timing belt 629, and may be, for example, a chain. The tensioner 630 may not necessarily be provided, and another configuration may be adopted as long as generation of slack of the transmission member such as a timing belt can be suppressed.
The same applies to the timing belt 729 and the tensioner 730 which the second rotation unit 7 has.

  In the above embodiment, the posture adjustment device 5 includes the motors 624 and 724 that are driven according to the control signal input from the control device 9 as a drive device, and the motors 624 and 724 are configured by stepping motors. And However, the invention is not limited to this. The motors 624 and 724 may be motors having other configurations, and may be other actuators instead of the motors 624 and 724.

  In the above embodiment, the posture adjustment device 5 centers the second rotation unit 7 that rotates the image forming unit FU about the rotation axis Rx parallel to the + X direction, and the rotation axis Ry parallel to the + Y direction. And a first rotation unit 6 for rotating the image forming unit FU. However, the present invention is not limited to this, as long as the posture adjustment device rotates the image forming unit FU about at least one of the rotation axes Rx and Ry. That is, one of the first rotation unit 6 and the second rotation unit 7 may not be present. In addition, the rotation axis of the image forming unit FU may not be parallel to the + X direction or the + Y direction.

In the above embodiment, the projector 1 includes the three light modulation devices 452 (452 B, 452 G, and 452 R). However, the present invention is not limited to this, and the present invention is applicable to a projector provided with two or more light modulation devices and a light combining device that combines lights emitted from these light modulation devices.
In the embodiment described above, the image projection device 4 has a configuration in which the optical component is disposed at the position shown in FIG. However, the present invention is not limited to this, and the optical components that constitute the image projection device 4 and the layout of the optical components can be changed as appropriate.
In the above embodiment, the light modulation device 452 includes the transmissive liquid crystal panel 454 in which the light incident surface and the light emission surface are different. However, not limited to this, the light modulation device may be configured to have a reflective liquid crystal panel in which the light incident surface and the light emission surface are the same. In addition, as long as it is a light modulation device capable of modulating an incident light beam to form an image according to image information, devices using micro mirrors, for example, devices using DMD (Digital Micromirror Device), etc. other than liquid crystal A light modulator may be used. In this case, instead of the three light modulation devices 452 described above, three light modulation devices respectively configured by DMDs may be adopted for the projector 1.

  DESCRIPTION OF SYMBOLS 1 ... Projector, 41 ... Light source device, 452 (452B, 452G, 452R) ... Light modulation device, 456 ... Light combining device, 46 ... Projection optical device, 5 ... Attitude adjustment device, 624, 724 ... Motor (drive device), 626 , 726 ... lead screw, 628, 728 ... first pulley, 629, 729 ... timing belt (transmission member), 631, 731 ... second pulley, 632, 732 ... shaft member, 6321, 7321 ... light shielding portion, 633, 733 ... Photo sensor, 6331, 7331 ... Light receiving unit, 634, 734 ... Potentiometer, 9 ... Control device, 911 ... Specified amount storage unit, 912 ... Abnormality storage unit, 95 ... Abnormality determination unit, 97 ... Recovery operation unit, SB6 ... Step (Changed position movement procedure), SB8 ... step (predetermined amount rotation procedure), SB10 ... step (reverse movement Order), SB12 ... step (homing procedure).

Claims (12)

A light source device,
A plurality of light modulation devices that respectively modulate the light emitted from the light source device;
A light combining device that is integrated with the plurality of light modulation devices and that combines light incident from each of the plurality of light modulation devices;
A projection optical device that projects the light combined by the light combining device;
A posture adjustment device that adjusts the posture of the light combining device;
A control device that controls the operation of the posture adjustment device;
The posture adjustment device
A lead screw for changing the posture of the light combining device;
A driving device for rotating the lead screw;
A shaft member to which the rotation of the lead screw is transmitted;
A potentiometer for detecting the amount of rotation of the shaft member;
And a photosensor capable of shielding the light receiving portion by a light shielding portion provided on the shaft member in accordance with the rotation of the shaft member.
The controller is
An abnormality determination unit that determines whether an abnormality has occurred in the posture adjustment device based on a detection result of the potentiometer;
A recovery operation unit that drives the drive device when the abnormality determination unit determines that an abnormality has occurred, and returns the light combining device to an origin position based on a detection result by the photosensor. Projector characterized by. In the projector according to claim 1,
The return operation unit drives the drive device,
The shaft member is rotated by a specified amount, which is a predetermined amount of rotation, from a change position at which a light shielding portion of the shaft member shields the light receiving portion and a non-shielding state in which the light receiving portion is not shielded. A projector that executes an origin return procedure for causing the light combining device to move to the home position. In the projector according to claim 2,
The return operation unit is
A predetermined amount of rotation, a predetermined amount of rotation procedure for rotating the shaft member;
After the predetermined amount rotation procedure, the rotation direction of the shaft member is reversed, and the reverse movement procedure for positioning the shaft member at the change position is performed based on the detection result by the photosensor.
A projector characterized in that the origin return procedure is performed after the reverse movement procedure is performed. In the projector according to claim 3,
The return operation unit executes a change position moving procedure for positioning the shaft member at the change position based on a detection result by the photosensor.
A projector characterized by performing the predetermined amount rotation procedure after performing the change position movement procedure. In the projector according to claim 4,
The projector according to claim 1, wherein the return operation unit drives the drive device based on the detection result of the potentiometer before the change position moving procedure to position the light combining device near the origin position. The projector according to any one of claims 2 to 5,
The control device has a prescribed amount storage unit that stores the prescribed amount,
The projector according to claim 1, wherein the return operation unit executes the origin return procedure by acquiring the predetermined amount stored in the predetermined amount storage unit. The projector according to any one of claims 1 to 6.
The control device has an abnormality storage unit that stores the contents of the generated abnormality.
The projector according to claim 1, wherein the return operation unit stores the content of the generated abnormality in the abnormality storage unit when it determines that an abnormality has occurred in the posture adjustment device. The projector according to any one of claims 1 to 7.
The projector according to claim 1, wherein the origin position is a center position in a movement range of the light combining device by the posture adjustment device. The projector according to any one of claims 1 to 8.
The posture adjustment device
A first pulley integrally provided on the lead screw;
A second pulley integrally provided on the shaft member;
And a transmission member configured to transmit the rotation of the first pulley to the second pulley. In the projector according to claim 9,
The projector according to claim 1, wherein the second pulley accelerates rotation of the first pulley transmitted through the transmission member. A control method executed by a control device of a projector, the control method comprising:
The projector is
A light source device,
A plurality of light modulation devices that respectively modulate the light emitted from the light source device;
A light combining device that is integrated with the plurality of light modulation devices and that combines light incident from each of the plurality of light modulation devices;
A projection optical device that projects the light combined by the light combining device;
A posture adjustment device that adjusts the posture of the light combining device;
A control device that controls the operation of the posture adjustment device;
The posture adjustment device
A lead screw for changing the posture of the light combining device;
A driving device for rotating the lead screw;
A shaft member to which the rotation of the lead screw is transmitted;
A potentiometer for detecting the amount of rotation of the shaft member;
And a photosensor capable of shielding the light receiving portion by a light shielding portion provided on the shaft member in accordance with the rotation of the shaft member.
The control method is
Based on the detection result by the potentiometer, it is determined whether or not an abnormality has occurred in the posture adjustment device;
When it is determined that the abnormality has occurred, the control device drives the drive device to return the light combining device to the origin position based on the detection result by the photosensor. A control method executed by a control device of a projector, the control method comprising:
The projector is
A light source device,
A plurality of light modulation devices that respectively modulate the light emitted from the light source device;
A light combining device that is integrated with the plurality of light modulation devices and that combines light incident from each of the plurality of light modulation devices;
A projection optical device that projects the light combined by the light combining device;
A posture adjustment device that adjusts the posture of the light combining device;
A control device that controls the operation of the posture adjustment device;
The posture adjustment device
A lead screw for changing the posture of the light combining device;
A driving device for rotating the lead screw;
A shaft member to which the rotation of the lead screw is transmitted;
A potentiometer for detecting the amount of rotation of the shaft member;
And a photosensor capable of shielding the light receiving portion by a light shielding portion provided on the shaft member in accordance with the rotation of the shaft member.
The control method is
Based on the detection result by the photo sensor, from the change position where the light shielding portion of the shaft member shields the light receiving portion and the non-shielding state in which the light receiving portion is not shielded A control method comprising: rotating the shaft member by a predetermined amount to return the light combining device to an origin position.

Images